// /*
//  * Copyright 2016 The Cartographer Authors
//  *
//  * Licensed under the Apache License, Version 2.0 (the "License");
//  * you may not use this file except in compliance with the License.
//  * You may obtain a copy of the License at
//  *
//  *      http://www.apache.org/licenses/LICENSE-2.0
//  *
//  * Unless required by applicable law or agreed to in writing, software
//  * distributed under the License is distributed on an "AS IS" BASIS,
//  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
//  * See the License for the specific language governing permissions and
//  * limitations under the License.
//  */

// #include
// "cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h"

// #include "cartographer/mapping/2d/submap_2d.h"
// #include
// "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
// #include "cartographer/mapping/internal/motion_filter.h"
// #include
// "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
// #include "cartographer/mapping/pose_extrapolator.h"
// #include "cartographer/sensor/internal/voxel_filter.h"

// namespace cartographer {
// namespace mapping {

// // proto::LocalTrajectoryBuilderOptions2D
// CreateLocalTrajectoryBuilderOptions2D(
// //     common::LuaParameterDictionary* const parameter_dictionary) {
// //   proto::LocalTrajectoryBuilderOptions2D options;
// //   options.set_min_range(parameter_dictionary->GetDouble("min_range"));
// //   options.set_max_range(parameter_dictionary->GetDouble("max_range"));
// //   options.set_min_z(parameter_dictionary->GetDouble("min_z"));
// //   options.set_max_z(parameter_dictionary->GetDouble("max_z"));
// //   options.set_missing_data_ray_length(
// //       parameter_dictionary->GetDouble("missing_data_ray_length"));
// //   options.set_num_accumulated_range_data(
// //       parameter_dictionary->GetInt("num_accumulated_range_data"));
// //   options.set_voxel_filter_size(
// //       parameter_dictionary->GetDouble("voxel_filter_size"));
// //   options.set_use_online_correlative_scan_matching(
// // parameter_dictionary->GetBool("use_online_correlative_scan_matching"));
// //   *options.mutable_adaptive_voxel_filter_options() =
// //       sensor::CreateAdaptiveVoxelFilterOptions(
// // parameter_dictionary->GetDictionary("adaptive_voxel_filter").get());
// //   *options.mutable_loop_closure_adaptive_voxel_filter_options() =
// //       sensor::CreateAdaptiveVoxelFilterOptions(
// //           parameter_dictionary
// //               ->GetDictionary("loop_closure_adaptive_voxel_filter")
// //               .get());
// //   *options.mutable_real_time_correlative_scan_matcher_options() =
// //       mapping::scan_matching::CreateRealTimeCorrelativeScanMatcherOptions(
// //           parameter_dictionary
// //               ->GetDictionary("real_time_correlative_scan_matcher")
// //               .get());
// //   *options.mutable_ceres_scan_matcher_options() =
// //       mapping::scan_matching::CreateCeresScanMatcherOptions2D(
// // parameter_dictionary->GetDictionary("ceres_scan_matcher").get());
// //   *options.mutable_motion_filter_options() =
// //   mapping::CreateMotionFilterOptions(
// //       parameter_dictionary->GetDictionary("motion_filter").get());
// //   *options.mutable_pose_extrapolator_options() =
// //   CreatePoseExtrapolatorOptions(
// //       parameter_dictionary->GetDictionary("pose_extrapolator").get());
// //   options.set_imu_gravity_time_constant(
// //       parameter_dictionary->GetDouble("imu_gravity_time_constant"));
// //   *options.mutable_submaps_options() = CreateSubmapsOptions2D(
// //       parameter_dictionary->GetDictionary("submaps").get());
// //   //
// options.set_use_imu_data(parameter_dictionary->GetBool("use_imu_data"));
// //   return options;
// // }

// }  // namespace mapping
// }  // namespace cartographer
